JP2003256045A - Transportation system for conveyance vehicle in factory - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To avoid wasteful consumption of waiting time of a conveyance vehicle in front of a vehicular interference area. <P>SOLUTION: In a state of no conveyance vehicles in the vehicular interference area 11, when a first conveyance vehicle 12A reaches an entrance 13A, the first conveyance vehicle 12A enters the vehicular interference area 1. In this duration, a second conveyance vehicle 12B reaching another entrance 13B stops. Since propriety of entry of the conveyance vehicles 12A or 12B with respect to the vehicular interference area 11 is determined on the basis of whether or not the other conveyance vehicle 12A or 12B is in the vehicular interference area 11 when the conveyance vehicle 12A or 12B approaches an entrance, a situation does not occur of the conveyance vehicle 12A or 12B waiting at the entrance 13A or 13B even though the vehicular interference area 11 is empty. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transportation system for a transportation vehicle in a factory.

[0002]

2. Description of the Related Art In a factory, in order to automate the supply of parts to an assembly line, etc., a transfer vehicle loaded with parts and the like is unmanned along a predetermined travel route. Depending on the way of arranging the production line, the parts storage station, and the like, a plurality of travel routes may intersect with each other or some of them may be close to each other. In this case, if a plurality of transport vehicles simultaneously enter the vehicle interference area where the traveling routes intersect or are close to each other, the transport vehicles may collide with each other, and therefore a countermeasure is required.

As a countermeasure, it is possible to move to the entrance to the vehicle interference area on each traveling route between a detection position where the transport vehicle advances on the traveling route and a non-detection position where the transportation vehicle retreats outside the traveling route. In addition to providing such a movable detector, it is possible to provide the transport vehicle with a sensor capable of controlling the traveling state of the transport vehicle based on whether or not the movable detector is detected. If such a movable detector and a sensor are used, the transport vehicle can be stopped by advancing the movable detector to the detection position so that it can be detected by the sensor, and move the movable detector to the non-detection position. By evacuating the vehicle so that it is not detected by the sensor, the transport vehicle can be driven as it is and enter the vehicle interference area.

The plurality of movable detectors are respectively
By individually setting in advance so that the detection position and the non-detection position are switched over time, it is possible to prevent a plurality of transport vehicles from entering the vehicle interference area at the same time, and thus to prevent a collision between the transport vehicles. It can be avoided.

[0005]

In the traffic system in which the movable detector switches between the detection position and the non-detection position at each preset time as described above, the other traveling route enters the vehicle interference region. Even if there is no transport vehicle to be attempted, a transport vehicle stopped by the movable detector continues to wastefully wait for the movable detector to move without being able to enter the vehicle interference area. obtain. As described above, in the transportation system in which the transportation vehicle stops before the vehicle interference region and wastes a standby time, there is a problem that production efficiency is reduced.

The present invention was devised in view of the above circumstances, and an object thereof is to avoid wasteful waiting time of a transport vehicle before a vehicle interference region where traveling routes intersect or approach each other.

[0007]

According to a first aspect of the present invention, a transport vehicle is made to travel along a travel route laid in a factory, and a plurality of travel routes are provided in a vehicle interference area where the travel routes intersect or approach each other. The transportation system for avoiding simultaneous entry of the transport vehicles, wherein the transport vehicles approach each of the entrances to the vehicle interference areas on the plurality of travel routes. A vehicle sensor for detecting the vehicle speed, and a vehicle traffic control means for switching between a state in which the transport vehicle is stopped and a state in which the transport vehicle is allowed to pass based on a detection signal of the vehicle sensor are provided. When any one of the vehicle sensors detects the conveyed vehicle, the vehicle traffic control means is provided only at the entrance where the vehicle sensor is provided. A state allowing the passage of the transport vehicle, in and other other entrance has a configuration in which the vehicle traffic control means in a state to stop the transport vehicle.

According to a second aspect of the present invention, in the first aspect of the invention, the vehicle passage control means stands by in all the entrances in a state in which the vehicle is allowed to pass. According to a third aspect of the present invention, in the first or second aspect of the invention, a passage detection sensor for detecting that the transport vehicle has passed through the vehicle interference area is provided at the exit of the vehicle interference area. Based on the detection signal of the passage detection sensor, the vehicle passage control means switches between a state in which the conveyance vehicle is stopped and a state in which the conveyance vehicle is allowed to pass.

According to a fourth aspect of the present invention, in the invention of the third aspect, the transport vehicle is configured to travel in both directions of reciprocation in the vehicle interference area, and the vehicle sensor is the passage detection sensor. It is configured to also serve.

[0010]

[Advantageous Effects of the Invention] [Invention 1] When a transport vehicle approaches any one of the entrances in a state where the transport vehicle does not enter the vehicle interference region, the vehicle sensor conveys at the entrance. Since the vehicle passage control means allows the passage of the vehicle by detecting the vehicle, the vehicle can enter the vehicle interference area. During this time, even if another transport vehicle approaches the entrance on the other travel route, the transport vehicle cannot enter the vehicle interference area because it is stopped by the vehicle traffic control means.

According to the present invention, whether or not a carrier vehicle can enter the vehicle interference region is based on whether or not another carrier vehicle has entered the vehicle interference region when the carrier vehicle approaches the entrance. I am trying to decide. Therefore, it is possible to prevent a situation in which the carrier vehicle wastefully waits at the entrance even though no other carrier vehicle enters the vehicle interference area. [Invention of Claim 2] When a transport vehicle approaches one entrance, the vehicle traffic control means switches to a state in which the transport vehicle is stopped at the entrance of a travel route other than the travel route of the entrance. The entry of the transport vehicle into the vehicle interference area is regulated by this. Since all the vehicle traffic control means are in a standby state in which the transport vehicle is allowed to pass, the transport vehicle that comes closest to the entrance is not stopped once,
It is possible to enter the vehicle interference area as it is.

[Invention of Claim 3] When one transport vehicle passes through the vehicle interference area, the vehicle traffic control means switches to a state in which the vehicle is allowed to pass by the detection signal of the passage detection sensor which detects the passage, and the vehicle enters. Other transport vehicles waiting by mouth can enter the vehicle interference area. According to the present invention, the passage detection sensor detects that one transport vehicle has passed through the vehicle interference region, that is, it is in a state in which another transport vehicle is allowed to enter the vehicle interference region. Therefore, it is possible to reliably prevent a plurality of transport vehicles from simultaneously entering the vehicle interference area.

[Invention of Claim 4] Since the vehicle sensor also serves as the passage detection sensor, the number of parts can be reduced as compared with the case where the vehicle sensor and the passage detection sensor are separately provided.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [First Embodiment] A first embodiment of the present invention will be described below with reference to FIGS. In the following description, the front-back direction is shown in FIG.
The upper side in Fig. 1 is the front, and the left and right directions are based on Fig. 1.

On the floor of the factory, there is a magnetic tape 2
The system travel paths 10A and 10B are laid. The two travel routes 10A and 10B are independent of each other, and in the vehicle interference region 11, the two travel routes 10A and 10B intersect each other at a right angle. In the vehicle interference region 11, the first traveling route 10A extends linearly in the front-rear direction, the second traveling route 10B extends linearly in the left-right direction, and the two linear regions intersect each other.
First transport vehicle 12A traveling on the first travel route 10A
Travels in both directions in the vehicle interference area 11. Further, the second transport vehicle 12B traveling on the second traveling route 10B also travels back and forth in the vehicle interference region 11.

On the first traveling route 10A, two entrances and exits 13A are provided, which are the entrance and exit of the first transfer vehicle 12A to the vehicle interference area 11 and the exit and exit of the first transfer vehicle 12A from the vehicle interference area 11. There is. A vehicle sensor 14A and a movable detection plate 15A (vehicle passage control means which is a constituent of the present invention) are provided at the two entrances 13A, respectively. The vehicle sensor 14A is provided above the first travel route 10A and has a detection bar 17A extending obliquely downward from the support shaft 16A. The detection bar 17A is in the front-back direction (the first conveyance vehicle at the entrance 13A). The presence of the first transport vehicle 12A at the doorway 13A is detected by tilting in a direction parallel to the traveling direction of 12A). In addition, the movable detection plate 15A includes the first traveling route 10A.
The vehicle moves forward and backward between a vehicle stop position (see FIG. 2) that is installed above the vehicle and advances to the first traveling route 10A side, and a passage allowable position (see FIG. 1) that retracts outside the first traveling route 10A. It is supposed to do. The forward / backward movement of the movable detection plate 15A is controlled based on a detection signal of a vehicle sensor 14B provided in front of an entrance / exit 13B of a second traveling route 10B, which will be described later.

The first transport vehicle 12A is provided with a frame 18A that rises upward, and the upper end of the frame 18A can contact the vehicle sensor 14A. Also,
An optical sensor 19A that is compatible with the movable detection plate 15A that has advanced to the vehicle stop position is attached to the frame 18A. This optical sensor 19A has a light emitting element (not shown) and a light receiving element (not shown) arranged toward the front in the traveling direction of the first transport vehicle 12A, and the detection light emitted from the light emitting element is The light receiving element detects whether or not the light is received. When the light receiving element of this optical sensor receives the detection light, the first transport vehicle 12A is stopped.

On the second traveling route 10B, two right and left doorways 13B are set, which are the entrance of the second transport vehicle 12B with respect to the vehicle interference area 11 and the exit of the second transport vehicle 12B from the vehicle interference area 11. There is. A movable detection plate 15B (vehicle traffic control means, which is a constituent of the present invention) is provided at each of the two entrances and exits 13B. The movable detection plate 15B moves back and forth between a vehicle stop position that advances toward the second travel route 10B (see FIG. 1) and a passage-permitted position that retracts outside the second travel route 10B (see FIG. 2). This movable detection plate 15 is designed to move.
B moves forward / backward at the entrance / exit 1 of the first traveling route 10A.
It is controlled based on the detection signal of the vehicle sensor 14A provided in 3A. Further, in the second travel route 10B, at a position farther from the vehicle interference region 11 than each entrance / exit 13B,
A vehicle sensor 14B is provided for each. The vehicle sensor 14B is provided on the side of the second traveling route 10B,
It has a detection bar 17B that extends laterally from the support shaft 16B, and the detection bar 17B extends in the horizontal direction (second transport vehicle 1).
The presence of the second transport vehicle 12B in front of the doorway 13B is detected by tilting in a direction parallel to the traveling direction of 2B).

A contact portion 18B capable of contacting the vehicle sensor 14B is formed at the front end portion of the side surface of the second transport vehicle 12B. In addition, an optical sensor 19B that is compatible with the movable detection plate 15B that has advanced to the vehicle stop position is attached to the front end surface of the second transport vehicle 12B. This optical sensor 19B
Is a light-emitting element (not shown) and a light-receiving element (not shown) arranged toward the front in the traveling direction of the second transport vehicle 12B, and the detection light emitted from the light-emitting element is received by the light-receiving element. It is designed to detect whether or not it is done. When the light receiving element of the optical sensor 19B receives the detection light, the first transport vehicle 12A stops.

Next, the operation of this embodiment will be described. Each of the movable detection plates 15A and 15B is always on standby at the passage permitting position (a state where the transport vehicle is permitted to pass). Then, when no first transportation vehicle enters the vehicle interference area 11 and the first transportation vehicle 12A approaches the vehicle interference area 11 from the front as shown by an imaginary line in FIG. Frame 18A of vehicle 12A
The upper end portion of the vehicle comes into contact with the detection bar 17A of the vehicle sensor 14A to tilt the detection bar 17A rearward.
It is detected that the first transport vehicle 12A approaches the vehicle interference region 11 from the front and reaches the doorway 13A. Then, based on the detection signal of the vehicle sensor 14A, the movable detection plate 15B advances to the vehicle stop position at the two doorways 13B of the second travel route 10B. That is, the state is switched to the state in which the second transport vehicle 12B is stopped. Therefore, when the second transport vehicle 12B approaches the vehicle interference region 11 in this state, the second transport vehicle 1
The detection light emitted from the light emitting element of the 2B optical sensor 19B is reflected by the movable detection plate 15B and received by the light receiving element, whereby the second transport vehicle 12B is stopped at the doorway 13B. Therefore, as shown in FIG. 1, in the vehicle interference region 11, the first
Only the transport vehicle 12A can enter, and the second transport vehicle 12B stands by in front of the vehicle interference region 11. When the first transport vehicle 12A passes through the vehicle interference area 11, the first
The upper end of the frame 18A of the transport vehicle 12A abuts against the detection bar 17A of the vehicle sensor 14A of the rear doorway 13A and tilts it rearward, whereby the first transport vehicle 12A passes through the vehicle interference region 11. Is detected. Then, by the detection signal of the vehicle sensor 14A,
The movable detection plate 15B of the second traveling route 10B is retracted to the passage allowable position, and the retracting of the movable detection plate 15B is detected by the optical sensor 19B of the second transport vehicle 12B.
The transport vehicle 12B starts traveling and enters the vehicle interference area 11.

Further, in a state where no transport vehicle enters the vehicle interference area 11, when the second transport vehicle 12B approaches the vehicle interference area 11 from the left side as shown by the imaginary line in FIG. The contact portion 1 of the second transport vehicle 12B
8B contacts the detection bar 17B of the vehicle sensor 14B and tilts the detection bar 17B, whereby it is detected that the second transport vehicle 12B has approached the vehicle interference region 11. Then, based on the detection signal of the vehicle sensor 14B, the two entrances / exit 13A of the first travel route 10A
In, the movable detection plate 15A advances to the vehicle stop position. That is, the state is switched to the state in which the first transport vehicle 12A is stopped. Therefore, in this state, the first transport vehicle 12A
Even if the vehicle approaches the vehicle interference area 11 from behind, the detection light emitted from the light emitting element of the optical sensor 19A of the first transport vehicle 12A is reflected by the movable detection plate 15A and received by the light receiving element, and the first transport is performed. The vehicle 12A stops at the doorway 13A. Therefore, as shown in FIG. 2, only the second transport vehicle 12B that has previously approached the vehicle interference region 11 can enter the vehicle interference region 11, and the first transport vehicle 12A waits in front of the vehicle interference region 11. To do. Then, when the second transport vehicle 12B passes through the vehicle interference region 11, the contact portion 18B of the second transport vehicle 12B contacts the detection bar 17B of the vehicle sensor 14B provided on the right side entrance / exit 13B side. Is tilted, and it is detected that the second transport vehicle 12B has passed through the vehicle interference region 11. Then, by the detection signal of the vehicle sensor 14B, the first traveling route 10A
Of the movable detection plate 15A of the first transport vehicle 12A is retracted to the passage permitting position, the withdrawal of the movable detection plate 15A is detected by the optical sensor of the first transport vehicle 12A, and the first transport vehicle 12A starts traveling and enters the vehicle interference area 11. enter in.

As described above, in the present embodiment, whether the transport vehicles 12A and 12B can enter the vehicle interference region 11 is determined by the transport vehicles 12A and 12B.
It is determined based on whether or not the other transport vehicles 12A and 12B enter the vehicle interference area 11 when approaching 3B. Therefore, although the other transport vehicles 12A, 12B do not enter the vehicle interference area 11, the transport vehicles 12A, 12B are not connected to the entrances 13A, 1B.
It is possible to avoid the situation of waiting in vain before 3B.

Further, since all the movable detection plates 15A and 15B are on standby at the passage permitting position (the state where the transport vehicles 12A and 12B are permitted to pass), the doorway 13 is the earliest.
The transport vehicles 12A and 12B approaching A and 13B can directly enter the vehicle interference area 11 without being temporarily stopped. In addition, the vehicle sensors 14A and 14B ensure that one of the transport vehicles 12A and 12B is in the vehicle interference region 1
1 is detected, that is, in the vehicle interference area 11, it is detected that the other transport vehicles 12A and 12B are allowed to enter.
It is possible to reliably prevent a plurality of transport vehicles 12A and 12B from entering the vehicle 1 at the same time.

Further, vehicle sensors 14A and 14B for detecting the approach of the transport vehicles 12A and 12B to the entrances / exits 13A and 13B, and passage detection for detecting that the transport vehicles 12A and 12B have passed through the vehicle interference area 11. Since it also serves as a sensor, the passage sensor is used as the vehicle sensor 14
The number of parts is reduced as compared with the case where the A and 14B are provided separately. [Other Embodiments] The present invention is not limited to the embodiments described above and illustrated in the drawings. For example, the following embodiments are also included in the technical scope of the present invention. Various modifications can be made without departing from the scope of the invention.

(1) In the above embodiment, the case where two traveling routes intersect in one vehicle interference region has been described. However, in the present invention, three or more traveling regions intersect in one vehicle interference region. It can also be applied in some cases. (2) In the above embodiment, the case where the two travel routes intersect at a right angle in the vehicle interference region has been described, but the present invention can also be applied to the case where the two travel routes intersect each other in an oblique direction. . (3) In the above-described embodiment, the case where the traveling routes intersect with each other in the vehicle interference region has been described.
It can also be applied when a plurality of travel routes are close to each other in the vehicle interference region. In this case, examples of the approaching form include a form in which straight running regions of the travel route are arranged in parallel to each other, a form in which curved running regions of the travel route are close to each other, and the like.

(4) In the above embodiment, the case where only the intersection area of the traveling routes exists in the vehicle interference area has been described. However, the present invention is not limited to the area where the traveling routes intersect in one vehicle interference area. The present invention can also be applied to the case where the travel routes include both areas that are close to each other. (5) In the above embodiment, the case where two mutually independent traveling routes are crossed has been described, but the present invention is
If there are areas that intersect in a single travel route,
It can also be applied to the existence of areas that are close to each other in a single travel route.

(6) In the above embodiment, the case where the transport vehicle travels back and forth along the travel route passing through the vehicle interference area has been described. However, in the present invention, the travel direction of the transport vehicle is one direction on the travel route. It can also be applied. (7) In the above embodiment, when the transport vehicle passes through the vehicle interference area, the detection signal from the sensor that detects the passage allows the other transport vehicles to enter the vehicle interference area. According to the report, a sensor for detecting passage is not provided, and after the vehicle sensor detects that the transport vehicle has entered the vehicle interference region, the time required for the transport vehicle to pass through the vehicle interference region has elapsed. Alternatively, the entry of another transport vehicle may be permitted.

(8) In the above embodiment, the movable detector is made to stand by at the non-detection position (the position which allows the transport vehicle to enter the vehicle interference area) on all the traveling routes. For example, the movable detector may stand by at the detection position (the position that restricts the transportation vehicle from entering the vehicle interference region) on all the traveling routes. In this case, only the movable detector corresponding to the transport vehicle whose vehicle sensor is detected first retracts to the non-detection position, so that the transport vehicle at the front can enter the vehicle interference region.

[Brief description of drawings]

FIG. 1 is a plan view showing a state in which a first transport vehicle enters a vehicle interference region and a second transport vehicle is on standby in the first embodiment.

FIG. 2 is a plan view showing a state in which the second transport vehicle enters the vehicle interference area and the first transport vehicle is on standby.

FIG. 3 is a side view showing a state in which a first transport vehicle is detected by a vehicle sensor.

FIG. 4 is a front view and a perspective view showing a state where the vehicle traffic control means stops the first transport vehicle.

FIG. 5 is a plan view showing a state in which a second transport vehicle is detected by a vehicle sensor.

FIG. 6 is a plan view showing a state in which the vehicle traffic control means stops the second transport vehicle.

[Explanation of symbols]

10A ... 1st traveling route 10B: Second traveling route 11 ... Vehicle interference area 12A ... 1st conveyance vehicle 12B ... second transfer vehicle 13A, 13B ... Doorway (entrance, exit) 14A, 14B ... Vehicle sensor (passage detection sensor) 15A, 15B ... Movable detection plate (vehicle traffic control means)

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Koo Ashi             25 Araco, Kamifujiike, Yoshiwara-cho, Toyota-shi, Aichi             Within the corporation (72) Inventor Yoshitaka Inamasu             25 Araco, Kamifujiike, Yoshiwara-cho, Toyota-shi, Aichi             Within the corporation (72) Inventor Takanori Ito             25 Araco, Kamifujiike, Yoshiwara-cho, Toyota-shi, Aichi             Within the corporation (72) Inventor Tsuyoshi Sakamaki             1 Toyota Town, Toyota City, Aichi Prefecture Toyota Auto             Car Co., Ltd. F-term (reference) 3D114 AA06 DA05                 5H301 AA02 AA09 BB05 CC03 CC06                       EE06 EE12 GG08 KK08 LL03                       LL08 LL11 LL12

Claims (4)

[Claims] 1. A transport vehicle is caused to travel along a travel route laid in a factory, and at the same time, a plurality of the transport vehicles are prevented from simultaneously entering a vehicle interference region where the travel routes intersect or approach each other. A vehicle system for detecting the approach of the transport vehicle to each of the entrances to the vehicle interference area in the plurality of travel routes, and Vehicle traffic control means for switching between a state in which the transport vehicle is stopped and a state in which the transport vehicle is allowed to pass based on a detection signal is provided, and one of the plurality of vehicle sensors is a vehicle sensor. When the transport vehicle is detected, the vehicle traffic control means allows the transport vehicle to pass only at the entrance provided with the vehicle sensor. Ri, and transportation systems transport vehicle in the factory, characterized in that it has a configuration in which the vehicle traffic control means in a state of stopping the transport vehicle in another entrance other than this. 2. The transportation of a transportation vehicle in a factory according to claim 1, wherein the vehicle traffic control means stands by in all the entrances while allowing the transportation vehicle to pass therethrough. system. 3. An exit of the vehicle interference area is provided with a passage detection sensor for detecting that the transport vehicle has passed through the vehicle interference area. Based on a detection signal of the passage detection sensor, the vehicle passage is detected. The transportation system for a transportation vehicle in a factory according to claim 1 or 2, wherein the control means is configured to switch between a state in which the transportation vehicle is stopped and a state in which the transportation vehicle is allowed to pass. . 4. The transport vehicle is configured to travel in both directions in the vehicle interference region in both directions, and the vehicle sensor also serves as the passage detection sensor. Transportation system for transportation vehicles in the factory.